EP3573546B1 - Eigenschaften basierte identifikation des chirurgischen tools - Google Patents

Eigenschaften basierte identifikation des chirurgischen tools Download PDF

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Publication number
EP3573546B1
EP3573546B1 EP18704380.7A EP18704380A EP3573546B1 EP 3573546 B1 EP3573546 B1 EP 3573546B1 EP 18704380 A EP18704380 A EP 18704380A EP 3573546 B1 EP3573546 B1 EP 3573546B1
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EP
European Patent Office
Prior art keywords
cutting tool
identifying feature
cutting
computing unit
cutting element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18704380.7A
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English (en)
French (fr)
Other versions
EP3573546A1 (de
Inventor
Cedric CORPA DE LA FUENTE
Brett Bell
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Smith and Nephew Inc
Original Assignee
Smith and Nephew Inc
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Filing date
Publication date
Application filed by Smith and Nephew Inc filed Critical Smith and Nephew Inc
Publication of EP3573546A1 publication Critical patent/EP3573546A1/de
Application granted granted Critical
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Active legal-status Critical Current
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1615—Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1615—Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
    • A61B17/1617—Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material with mobile or detachable parts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1626—Control means; Display units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles

Definitions

  • the present disclosure relates generally to identifying cutting tools for surgical procedures. More specifically, the present disclosure relates to identifying cutting tools using certain parameters to verify that the correct tools for a surgical procedure have been inserted into a drive assembly.
  • surgical navigation systems can aid surgeons in locating patient anatomical structures, guiding surgical instruments, and implanting medical devices with a high degree of accuracy.
  • Surgical navigation systems often employ various forms of computing technology to perform a wide variety of standard and minimally invasive surgical procedures and techniques. Moreover, these systems allow surgeons to more accurately plan, track and navigate the placement of instruments and implants relative to the body of a patient, as well as conduct pre-operative and intra-operative body imaging.
  • Tools are often labelled to avoid the above-described risks.
  • the use of labels may not prevent confusion when multiple interchangeable tools are used during the same procedure. Labels can become damaged, covered with blood or other debris, or have other related issues. Furthermore, human error can occur even when labels are clearly discernible.
  • US 2004/220602 A1 for example, relates to a cutting tool identification system for use during a surgical procedure.
  • an automatic tool detection system and method that allows the navigation system to identify the tool that has been inserted into the handpiece.
  • the system includes a cutting tool assembly including a shaft having a cutting element and at least one identifying feature that uniquely corresponds to the cutting element.
  • the system further includes a drive assembly comprising a reference pin, the drive assembly configured to receive at least a portion of the cutting tool assembly, a motor mechanically connected to the drive assembly, a control unit configured to activate the motor to move the cutting tool assembly such that the reference pin engages with the at least one identifying feature, a sensor system configured to determine positioning information related to the reference pin when the reference pin engages the at least one identifying feature, and a computing unit configured to receive the positioning information from the sensor system and identify the cutting element based upon the position information.
  • the computing unit is further configured to determine whether the cutting element is suitable for use in a particular surgical procedure.
  • the cutting element includes at least one of a drill bit and a cutting bur.
  • the at least one identifying feature includes a plurality of detection components that extend axially from the cutting element at an intersection of the cutting element and the shaft.
  • the at least one identifying feature includes a plurality of detection components equally spaced about a circumference of the shaft.
  • the computing unit is further configured to identify the cutting element based upon the position information and at least one geometrical property of the at least one identifying feature.
  • the motor is configured to actuate the drive assembly rotationally. In some additional embodiments, the motor is further configured to actuate the drive assembly axially.
  • the computing unit is further configured to detect contact between the reference pin and the at least one identifying feature.
  • the reference pin includes a first conductive portion and the at least one identifying feature includes a second conductive portion.
  • the computing unit is further configured to detect contact between the reference pin and the at least one identifying feature by measuring a change in current resulting from the first conductive portion contacting the second conductive portion.
  • the computing unit includes a database configured to store data correlating a plurality of cutting elements and associated identification information.
  • system further includes a display device operably connected to the computing unit.
  • the display device is configured to provide a notification to a user about a current state of the cutting tool assembly.
  • the method includes moving, by a motor, a drive assembly into contact with a cutting tool assembly, the cutting tool assembly including a cutting element including an identifying feature; detecting, by a computing device, contact of the drive assembly with the cutting tool assembly; collecting, by the computing device, cutting tool identification data relating to the cutting element; accessing, by the computing device, a database to compare the collected cutting tool identification data with data for known cutting tools to identify the cutting tool assembly; determining, by the computing device, whether the cutting tool assembly is approved for the surgical procedure; and notifying, by the computing device, a user of the results, wherein the notification is displayed on a display device operably connected to the computing device.
  • collecting the cutting tool identification data relating to the cutting element includes rotating the cutting tool assembly within a drive assembly to a start position; retracting the cutting tool assembly within the drive assembly until the identifying feature abuts a reference pin attached to the drive assembly; collecting measurement parameters; extending the cutting tool assembly; rotating the cutting tool assembly a known amount; retracting the cutting tool assembly until the identifying feature abuts the reference pin again; and collecting additional measurement parameters.
  • the measurement parameters include axial contact position information and rotation angle information for the cutting element.
  • the measurement parameters further include an axial distance from an end of the cutting tool assembly to a surface of the identifying feature.
  • accessing the database to compare the collected cutting tool identification data with data for known cutting tools includes comparing the collected measurement parameters and the collected additional measurement parameters with data stored in the database to identify the cutting element.
  • the cutting element includes at least one of a drill bit and a cutting bur.
  • the identifying feature includes a plurality of detection components that extend axially from the cutting element.
  • the identifying feature includes a plurality of detection components equally spaced about a circumference of a shaft attached to the cutting element.
  • the example embodiments as described above can provide various advantages over prior techniques.
  • the techniques as taught herein can reduce the chance that an improper cutting tool is used during a surgical procedure.
  • the techniques also provide for more efficient surgical procedures as cutting mistakes resulting from improper cutting tools are avoided and time spent correcting the mistakes is eliminated.
  • the term “implant” refers to a prosthetic device or structure manufactured to replace or enhance a biological structure, either permanently or on a trial basis.
  • an implant can be placed on one or both of the tibia and femur.
  • an implant is generally considered to denote a man-made structure (as contrasted with a transplant)
  • an implant can include a biological tissue or material transplanted to replace or enhance a biological structure.
  • the tool identification system as described herein is particularly adapted for surgical procedures that utilize surgical navigation systems, such as the NAVIO® surgical navigation system. Such procedures can include knee replacement revision surgery, as well as other surgical procedures.
  • the disclosed tool identification system does not require extra sensors to be implemented to identify cutting tools because it can use the existing linear and rotary motion/sensing components of the NAVIO® hand-piece.
  • NAVIO is a registered trademark of BLUE BELT TECHNOLOGIES, INC. of Pittsburgh, PA
  • the tool identification system as described herein can be configured to utilize a wide variety of physical identification combinations or similar parameters to identify cutting tools, as compared to conventional systems that only employ magnetism or electrical current, such as Hall effect sensor techniques. Because the disclosed system can rely upon geometric features of a tool shaft, the system can be implemented through a simple machining operation, making the entire system more stable and less expensive when compared to conventional systems. In some implementations, no additional parts or components are necessary, which is an advantage over conventional systems that utilize magnets. The disclosed system also provides the ability to verify that the cutting tool is properly seated in a collet of a tool carriage.
  • the tool identification system as described herein can also allow a robotic system to identify and confirm tools that can be implemented with surgical navigation systems after the tools have been inserted into such systems.
  • the tool identification system is robust with respect to tool identification and surgical environments, including environments that can be subjected to various cleaning and/or sterilization techniques.
  • FIG. 1 illustrates components of a surgical navigation system 100 that can be configured to implement the disclosed tool identification system according to various embodiments.
  • the surgical navigation system 100 can assist a surgeon in performing certain surgical procedures that involve surgical implants, such as knee implants.
  • the surgical navigation system 100 can also be used for procedures involving other joints such as hip replacement surgery.
  • the surgical navigation system 100 can include a computer system 110 to provide a display for viewing location data provided by fiducials 112 as read by a position tracker 114.
  • the fiducials 112 and position tracker 114 can provide data relevant to the precise location of any solid object to which they are firmly attached.
  • the fiducials 112 and position tracker 114 can allow the surgical navigation system 100 to track the bones in a patient's knee joint during a procedure.
  • the position tracker 114 can detect tracking spheres located on the fiducials 112 in order to gather location data for a patient for the femur and the tibia upon which a procedure is to be performed.
  • the fiducials 112 can be any suitable trackers, such as active trackers, passive trackers, optical trackers, or electromagnetic trackers.
  • the position tracker 114 can be an infrared camera system, an electromagnetic field generator with a tracking system, or other similar tracking systems.
  • an electromechanical cutting tool identification system generally designated as 200.
  • the cutting tool identification system 200 can provide a reliable means to identify and verify cutting tools that can be implemented for use with a power tool system.
  • the cutting tool identification system 200 can be used with surgical procedures, such as surgical procedures that involve implants, to verify that a particular cutting tool is consistent with the tool required for a particular surgical plan.
  • the cutting tool identification system 200 can utilize relative elevations of geometric properties to identify a particular tool.
  • the cutting tool identification system 200 can further rely on axial and rotational movement of the cutting tool assembly 210 to detect the geometric properties of a tool.
  • the cutting tool identification system 200 can include a cutting tool assembly 210, a drive assembly 220, a motor 230, a control unit 240, and a computing unit 250.
  • the cutting tool assembly 210 can include a shaft 212 having a cutting element 214 and an identifying feature 216.
  • the shaft 212 can be rotated and/or moved axially.
  • the identifying feature 216 can uniquely correspond to the cutting element 214 and, in certain embodiments, can be coded to communicate the geometric properties of the cutting element 214. In certain other implementations, the identifying feature 216 can be configured to convey the material properties of the cutting element 214.
  • the cutting tool assembly 210 can also include a connector 218 for connecting the shaft to the drive assembly 220. The connector 218 can also be used to identify the location of an end of the shaft 212 to be used in measuring the elevations of one or more portions of the identifying feature 216.
  • the cutting element 214 can be disposed on the shaft 212 either permanently or releaseably and can be any suitable cutting tool, such as a drill bit or a cutting bur.
  • the identifying feature 216 can be a physical or mechanical structure(s) that is added to, or cut away from, the cutting tool assembly 210.
  • the drive assembly 220 can connect to the cutting tool assembly 210 at connector 218 with connector 222.
  • the connection can be a conventional mechanical connection between the connectors 218 and 222 or the connection can be magnetic or friction-based.
  • the drive assembly 220 can extend or retract the cutting tool assembly 210 axially.
  • the drive assembly 220 can also include a second motor to rotate the cutting tool assembly 210.
  • the drive assembly 220 can include a reference pin 224 and a sensor system 226 for measuring the elevations of one or more portions of the identifying feature 216.
  • the sensor system 226 can employ a wheel, an encoder, a pin, a Hall effect sensor, or any other known device for use in measuring the position of the cutting tool assembly 210.
  • the motor 230 can be controlled by the control unit 240 to supply power to move the drive assembly 220, which moves the cutting tool assembly 210.
  • the motor 230 can be separate from the drive assembly 220 as illustrated in FIG. 2 or can be implemented as a part of the drive assembly 220.
  • the motor 230 can include two separate motors: a first motor for spinning the cutting tool assembly 210 and a second motor for axially moving the cutting tool assembly.
  • the cutting tool identification system 200 can employ the computing unit 250 to identify and verify the cutting element 214 when the cutting tool assembly 210 is inserted into the drive assembly 220.
  • the cutting tool identification system 200 can identify the cutting element 214 based upon the identifying feature 216, which as noted above can include one or more simple physical components that can uniquely identify a particular cutting element 214.
  • the uniqueness of the components can be defined by geometrical properties, such as component-to-component distance and component-to-component orientation.
  • the identifying feature 216 can include a plurality of individual components.
  • the computing unit 250 can utilize the individual components to identify the cutting element 214 using a simple lookup table.
  • the components can be measured relative to one another or relative to a constant distal location such as the end of the shaft 212.
  • the cutting tool identification system 200 can configure and implement the computing unit 250 to identify the cutting element 214 when the sensor system 226 characterizes the identifying feature 216.
  • the characterization can be a measurement of electrical, magnetic, or physical properties of the identifying feature.
  • the computing unit 250 can be configured such that the cutting tool identification system 200 employs the reference pin 224 and sensor system 226 to characterize the identifying feature 216 when an abrupt change in a monitored electrical current occurs. In some embodiments, this characterization can occur when the reference pin 224 makes physical contact with the identifying feature 216 as the cutting tool assembly 210 is being retracted into the drive assembly 220. The retraction of the cutting tool assembly 210 can cause an abrupt rise in motor current, as detected by the sensor system 226, signifying a contact event within the computing unit 250. In other embodiments, the computing unit 250 can be used to characterize the identifying feature 216 when electrical contact between a reference pin 224 that has been electrically charged and the identifying feature 216 is detected.
  • the sensor system 226 can be contained within a motor 230.
  • the sensor system 226 can be implemented as one or more Hall effect sensors that can measure the magnetic field orientation of different magnetic poles within the one or more motors 230. Magnetic field orientation changes with the operation of each such motor correlate to rotation of the cutting tool assembly 210, such as in 60 degree increments in the case of a 3-phase motor.
  • magnetic field orientation changes can also be used to measure axial displacement of the cutting tool arrangement 210 such as where a lead screw is combined with a motor 230 to move the cutting tool arrangement axially.
  • the computing unit 250 can determine that the sensor system 226, in conjunction with the reference pin 224, has detected the relative heights of one or more components of the identifying feature 216.
  • the drive assembly 220 can be configured to implement the sensor system 226 to encode the axial and rotational position of the shaft 212 as it characterizes the identifying feature 216.
  • the sensor system 226 can include two or more sensor systems (e.g., a first sensor system for rotation and a second sensor system for axial location) to characterize the identifying feature 216. In other embodiments, only one sensor system 226 may be implemented.
  • the motor 230 can be used to rotate the bur a known amount without any feedback to verify it moved to an intended position as will be discussed in relation to FIGS. 4 and 5 as described below.
  • a computing unit generally designated by numeral 300, that, for example, corresponds to the computing unit 250 shown in FIG. 2 is illustrated.
  • the computing unit 300 can be configured to collect data, such as data indicative of relative linear and angular position data, from the control unit 240 and/or from the sensor system 226 shown in FIG. 2 .
  • the computing unit 300 can be implemented as a computer, computer system and/or a computing device. It is to be appreciated that embodiments of the computing unit 300 can be implemented by various types of operating environments, computer networks, platforms, frameworks, computer architectures, and/or computing systems.
  • Implementations of the computing unit 300 are described within the context of a device configured to perform various steps, methods, and/or functionality in accordance with embodiments of the described subject matter. It is to be appreciated that a computing device or computer system can be implemented by one or more computing devices. Implementations of computing unit 300 can be described in the context of "computer-executable instructions" that are executed to perform various steps, methods, and/or functionality in accordance with embodiments of the described subject matter.
  • a computer system or computing device can include a combination of hardware and software. It can be appreciated that various types of computer-readable storage media can be part of a computer system or computing device. As used herein, the terms “computer-readable storage media” and “computer-readable storage medium” do not mean and unequivocally exclude a propagated signal, a modulated data signal, a carrier wave, or any other type of transitory computer-readable medium.
  • a computer system or computing device can include a processor configured to execute computer-executable instructions and a computer-readable storage medium (e.g., memory and/or additional hardware storage) storing computer-executable instructions configured to perform various steps, methods, and/or functionality in accordance with embodiments of the described subject matter.
  • Computer-executable instructions can be embodied and/or implemented in various ways such as by a computer program (e.g., client program and/or server program), a software application (e.g., client application and/or server application), software code, application code, source code, executable files, executable components, routines, application programming interfaces (APIs), functions, methods, objects, properties, data structures, data types, and/or the like.
  • Computing unit 300 can implement and utilize one or more program modules.
  • program modules include routines, programs, objects, components, data structures, etc., that perform particular tasks.
  • Computing unit 300 can include a processor 310, memory 312, additional hardware storage 314, input devices 316, and display device 318.
  • Computing unit 300 can contain one or more communication interfaces 320 that allow computing unit 300 to communicate with other computing devices and/or other computer systems. Communication interfaces 320 also can be used in the context of distributing computer-executable instructions.
  • Computing unit 300 can include and/or run one or more computer programs 322 implemented, for example, by software, firmware, hardware, logic, and/or circuitry of computing unit 300.
  • Computer programs 322 can include an operating system 324 implemented, for example, by one or more exemplary operating systems described above and/or other type of operating system suitable for running on computing unit 300.
  • Computer programs 322 can include one or more applications 326.
  • Computer programs 322 can implement computer-executable instructions that are stored in computer-readable storage media such as memory 312 or hardware storage 314, for example. Computer-executable instructions implemented by computer programs 322 also can be configured to provide one or more separate and/or stand-alone services.
  • the computing unit 300 can implement and perform various embodiments of the described subject matter.
  • computing unit 300 can utilize identification code 328 to identify the cutting element 214 shown in FIG. 2 using geometrical properties or other similar parameters.
  • the identification code 328 can successfully identify the cutting element 214 and determine whether the cutting element is compatible with a particular surgical procedure.
  • the identification code 328 may not be able to identify the cutting element 214.
  • the failure of the identification code 328 to identify the cutting element 214 can result when the cutting element has not been approved or used in the planning process for a given procedure.
  • the computing unit 300 can communicate to a user with the display device 318.
  • the computing unit 300 can indicate when it has successfully identified the cutting element 214 on the display device 318.
  • the computing unit 300 can indicate when the cutting element 214 is the proper tool for a surgical procedure on the display device 318.
  • the computing unit 300 can indicate when the cutting element 214 cannot be identified with a warning on the display device 318.
  • the computing unit 300 can indicate when the cutting element 214 is incompatible with a surgical procedure on the display device 318 with a similar warning.
  • the computing unit 300 can communicate with a database 330 that stores parameters for reference cutting tools and/or approved cutting tool designs.
  • the parameters can include measured distances and measured orientations for reference cutting tools.
  • the computing unit 300 can access the database 330 to compare linear and angular position data obtained from the sensor system 226 and/or the control unit 240 with information for reference cutting tools in the database 330.
  • the information for reference cutting tools and/or approved cutting tool designs can represent measured distances and orientations that are unique for a particular cutting tool design.
  • a cutting tool assembly 400 can be inserted into a drive assembly 410.
  • the cutting tool assembly 400 can be any suitable cutting tool assembly, such as the cutting tool assembly 210 depicted in FIG. 2 and described above.
  • the drive assembly 410 can be any suitable drive assembly, such as the drive assembly 220 depicted in FIG. 2 and described above.
  • the cutting tool assembly 400 can include a bur 412 and a substantially cylindrical shaft 414 that is sized and configured to fit into a receptacle 416 in the drive assembly 410 for mechanical connection thereof.
  • the drive assembly 410 can include an essentially tubular cylindrical body 418 that forms the receptacle 416 for receiving the shaft 414.
  • the cutting tool assembly 400 can include a plurality of detection components 422 that extend axially away from the bur 412 where the bur meets the shaft 414.
  • these detection components 422 collectively form an identifying feature 424, which can be the same as the identifying feature 216 illustrated in FIG. 2 and described above.
  • the drive assembly 410 can include a reference pin 426 for assisting with the detection of the identifying feature 424.
  • the identifying feature 424 can be repeated around the circumference of the shaft 414. In some examples, the identifying feature 424 can be repeated in 60° increments around the circumference of the shaft 414. In other examples, the identifying feature 424 can be repeated in 120° or 180° increments. Preferably, the identifying features 424 can be arranged in a symmetrical arrangement to avoid rotational imbalance when the cutting tool assembly 400 is used in a surgical procedure.
  • the reference pin 426 can be used to sample the relative height of the detection components 422 at various points around the shaft 414. Alternatively, the reference pin 426 can be used to measure the distance from an end of the shaft 414 to each detection component 422 as the cutting tool assembly 400 is rotated during an identification procedure. In some examples, only a portion of the identifying feature 424 can be sensed during an identification procedure.
  • the drive assembly 410 can axially extend the cutting tool assembly 400 to a "start" position where the reference pin 426 is far enough removed from the identifying feature 424 that the cutting tool assembly 400 can rotate freely.
  • the motor 230 can be configured to engage a lead screw that axially extends or retracts the cutting tool assembly 400 into or out of the drive assembly 410.
  • the computing unit 300 can use the sensor system 226 to keep track of the amount of axial extension of the cutting tool assembly 400 as compared to a reference point. The drive assembly 410 can then retract the shaft 414 until the reference pin 426 contacts a detection component 422 of the identifying feature 424.
  • the computing unit 250 shown in FIG.
  • the shaft 414 can be extended axially, rotated, and retracted until the reference pin 426 contacts the next detection component 422 that makes up the identifying feature 424.
  • the start or "zero" position can be removed from the above-described steps by repeating the steps "n" times with a prescribed rotation increment being applied during each cycle.
  • the identifying feature 424 can include detection components 422 arranged around the shaft 414 in 60 degree increments.
  • this arrangement can be compatible with a three phase motor 230, which has a resolution of 120 degrees between each pole pair so that all three detection components 422 can be detected by energizing each pole pair in turn and retracting the shaft until the detection component 422 hits the reference pin 426.
  • the motor 230 can be used to rotate the cutting tool assembly 210 a known amount without the need for a rotational sensor while characterizing the entire identifying feature 424.
  • the identification process described has some redundancy that can ensure that all of the detection components 422 will be read.
  • the cutting tool assembly 500 can be any suitable cutting tool assembly, such as the cutting tool assembly 210 shown in FIG. 2 or cutting tool assembly 400 shown in FIGS. 4 and 5 .
  • the cutting tool assembly 500 has a bur head 510, a bur shaft 512, and an identifying feature 514.
  • the identifying feature 514 can be formed from a plurality of partial annular rings 516, 518.
  • the partial annular rings 516, 518 can include predetermined axial dimensions so that the distances 520, 522, and 524 are fixed to form a set of predetermined geometric properties for a particular cutting tool assembly 500.
  • the geometric properties can be preselected so that a particular set of geometric properties can be correlated with the bur head 510.
  • the computing unit 300 shown in FIG. 3 can utilize the distances 520, 522, and 524 with a set of geometric properties for a known rotating tool or cutting tool in database 330 to identify the cutting tool assembly 500.
  • the distances 520, 522, and 524 are used to identify the bur head 510. It should be understood that the number of unique tools that can be encoded with this technique is limited only by the resolution with which axial island positions such as detection components 422 or partial annular rings 516, 518 can be detected, which is a combination of axial resolution, sensor quality, and manufacturing tolerances.
  • an exemplary method 600 is illustrated as an embodiment of an exemplary cutting element identification process in accordance with certain embodiments of the described subject matter.
  • the method 600, or portions thereof, can be performed by or with the aid of one or more computing devices, a computer system, computer-executable instructions, software, hardware, firmware or a combination thereof in various embodiments.
  • method 600 can be performed by surgical navigation system 100 or other suitable systems.
  • a drive assembly can be moved 601 into contact with a cutting tool assembly.
  • the drive assembly can be the drive assembly 220 shown in FIG. 2 or the drive assembly 410 shown in FIGS. 4 and 5 .
  • the cutting tool assembly can be the cutting tool assembly 210 shown in FIG. 2 , the cutting tool assembly 400 shown in FIGS. 4 and 5 , or the cutting tool assembly 500 shown in FIGS. 6 and 7 .
  • Other cutting tool assemblies and drive assemblies will be apparent to those of skill in the art.
  • a computing device can detect 602 contact of the drive assembly with the cutting tool assembly.
  • the contact can be detected by the computing unit 250 shown in FIG. 2 or the computing unit 300 shown in FIG. 3 .
  • the detection occurs when the identifying feature 216 is detected by the sensor system 226 shown in FIG. 2 or when the identifying feature 424 contacts the reference pin 426 shown in FIGS. 4 and 5 .
  • the computing device can further collect 603 cutting element data relating to the cutting tool assembly 400.
  • the cutting element data can be collected by having the drive assembly 220 rotate the shaft 414 shown in FIGS. 4 and 5 with the reference pin 426 repeatedly engaging with the detection features 422, as described herein, to characterize the identification feature 424.
  • the resultant data is collected by, for example, the computing unit 250 shown in FIG. 2 or the computing unit 300 shown in FIG. 3 and stored in memory such as memory 312 as shown in FIG. 3 .
  • the computing device can access 604 a database to compare the cutting element data collected by the reference sensor 426 with data for approved cutting elements, according to a surgical plan, to identify the cutting tool assembly 400.
  • the database can be the database 330 shown in FIG. 3 .
  • a cutting element identification system can determine 605 whether the cutting tool assembly 400 can be used for the surgical procedure.
  • the cutting element identification system can be the cutting element identification system 200 shown in FIG. 2 .
  • the computing system can notify 606 a practitioner via a graphical user interface regarding the determination 605 whether the cutting tool assembly 400 can be used for the surgical procedure.
  • these notifications can include a message that the cutting tool assembly is properly attached, that it has been recognized by the system and whether or not it complies with the surgical plan.
  • an error message can also be conveyed to the user through the use of lights, sounds, displays or a combination thereof. The system could also be disabled until an appropriate cutting tool assembly is inserted.
  • a display device 700 can be configured to communicate to a user such as the practitioner described above that a cutting tool assembly is attached properly 705, whether or not the cutting tool is recognized by the system 710, and whether or not the cutting tool will work for the identified surgical plan 715.
  • An advantage of certain embodiments of the disclosed cutting element identification system 200 is that the tool identification relies upon geometric, physical features on a shaft 414 of a cutting tool assembly 400.
  • the identifying features 424 can be provided through simple machining operations without the need to incorporate additional parts or technical complexity into the cutting tool assembly 400.
  • the cutting tool identification system 200 can verify that a cutting tool assembly 400 is properly seated in the drive assembly and verify the axial location of the tool due to the fact that the drive assembly will not be able to put the reference pin in contact with the identification feature if the cutting tool assembly is improperly seated in the drive assembly.
  • some implementation of the tool identification system can use both rotational and axial position information to encode rotating tool, cutting tool, and/or bur identification information through the use of unique patterns.
  • Such embodiments may have higher rotary resolutions, which can be obtained through the use of Hall effect sensors or a rotary encoder.
  • compositions, methods, and devices are described in terms of “comprising” various components or steps (interpreted as meaning “including, but not limited to”), the compositions, methods, and devices can also “consist essentially of' or “consist of' the various components and steps, and such terminology should be interpreted as defining essentially closed-member groups. It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present.
  • a range includes each individual member.
  • a group having 1-3 cells refers to groups having 1, 2, or 3 cells.
  • a group having 1-5 cells refers to groups having 1, 2, 3, 4, or 5 cells, and so forth.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Dentistry (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Surgical Instruments (AREA)

Claims (14)

  1. Ein Schneidewerkzeug-Identifikationssystem (200) zur Verwendung während eines chirurgischen Eingriffs, wobei das System Folgendes beinhaltet:
    eine Schneidewerkzeuganordnung (210), die Folgendes beinhaltet:
    einen Schaft (212) mit einem Schneideelement (214) und
    mindestens ein Identifizierungsmerkmal (216), das dem Schneideelement eindeutig entspricht;
    eine Antriebsanordnung (220), die einen Bezugsstift (224) beinhaltet, wobei die Antriebsanordnung konfiguriert ist, um mindestens einen Abschnitt der Schneidewerkzeuganordnung aufzunehmen;
    einen Motor (230), der mechanisch mit der Antriebsanordnung verbunden ist;
    eine Steuereinheit (240), die konfiguriert ist, um den Motor zum Bewegen der Schneidewerkzeuganordnung zu aktivieren, sodass der Bezugsstift in das mindestens eine Identifizierungsmerkmal eingreift;
    dadurch gekennzeichnet, dass das System ferner Folgendes beinhaltet:
    ein Sensorsystem (226), das konfiguriert ist, um Positionierungsinformationen zu bestimmen, die sich auf den Bezugsstift beziehen, wenn der Bezugsstift in das mindestens eine Identifizierungsmerkmal eingreift; und
    eine Recheneinheit (250), die für Folgendes konfiguriert ist:
    Empfangen der Positionierungsinformationen von dem Sensorsystem und Identifizieren des Schneideelements auf der Basis der Positionsinformationen.
  2. System gemäß Anspruch 1, wobei die Recheneinheit ferner konfiguriert ist, um zu bestimmen, ob das Schneideelement zur Verwendung in einem spezifischen chirurgischen Eingriff geeignet ist.
  3. System gemäß einem der vorhergehenden Ansprüche 1 oder 2, wobei das Schneideelement mindestens eines von einer Bohrspitze und einem Schneidefräser beinhaltet.
  4. System gemäß einem der vorhergehenden Ansprüche 1-3, wobei das mindestens eine Identifizierungsmerkmal eine Vielzahl von Detektionskomponenten beinhaltet, die sich an einem Übergang von dem Schneideelement zu dem Schaft axial von dem Schneideelement erstrecken.
  5. System gemäß einem der vorhergehenden Ansprüche 1-4, wobei das mindestens eine Identifizierungsmerkmal eine Vielzahl von Detektionskomponenten beinhaltet, die im gleichen Abstand um einen Umfang des Schafts angeordnet sind.
  6. System gemäß einem der vorhergehenden Ansprüche 1-5, wobei die Recheneinheit ferner konfiguriert ist, um das Schneideelement auf der Basis der Positionsinformationen und mindestens einer geometrischen Eigenschaft des mindestens einen Identifizierungsmerkmals zu identifizieren.
  7. System gemäß einem der vorhergehenden Ansprüche 1-6, wobei der Motor konfiguriert ist, um die Antriebsanordnung drehend zu betätigen.
  8. System gemäß Anspruch 7, wobei der Motor ferner konfiguriert ist, um die Antriebsanordnung axial zu betätigen.
  9. System gemäß einem der vorhergehenden Ansprüche 1-8, wobei die Recheneinheit ferner konfiguriert ist, um eine Berührung zwischen dem Bezugsstift und dem mindestens einen Identifizierungsmerkmal zu detektieren.
  10. System gemäß einem der vorhergehenden Ansprüche 1-9, wobei der Bezugsstift einen ersten leitfähigen Abschnitt beinhaltet und das mindestens eine Identifizierungsmerkmal einen zweiten leitfähigen Abschnitt beinhaltet.
  11. System gemäß Anspruch 10, wobei die Recheneinheit ferner konfiguriert ist, um eine Berührung zwischen dem Bezugsstift und dem mindestens einen Identifizierungsmerkmal durch das Messen einer Veränderung eines Strom infolge des Berührens des ersten leitfähigen Abschnitts und des zweiten leitfähigen Abschnitts zu detektieren.
  12. System gemäß einem der vorhergehenden Ansprüche 1-11, wobei die Recheneinheit eine Datenbank beinhaltet, die konfiguriert ist, um Daten zu speichern, die eine Vielzahl von Schneideelementen und zugehörige Identifikationsinformationen in Beziehung setzen.
  13. System gemäß einem der vorhergehenden Ansprüche 1-12, das ferner eine Anzeigevorrichtung beinhaltet, die betriebsfähig mit der Recheneinheit verbunden ist.
  14. System gemäß Anspruch 13, wobei die Anzeigevorrichtung konfiguriert ist, um einem Benutzer eine Benachrichtigung über einen aktuellen Zustand der Schneidewerkzeuganordnung bereitzustellen.
EP18704380.7A 2017-01-25 2018-01-25 Eigenschaften basierte identifikation des chirurgischen tools Active EP3573546B1 (de)

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US201762450458P 2017-01-25 2017-01-25
PCT/US2018/015316 WO2018140646A1 (en) 2017-01-25 2018-01-25 Feature-based surgical tool identification

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EP3573546B1 true EP3573546B1 (de) 2021-09-22

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US11896239B2 (en) 2017-08-17 2024-02-13 Stryker Corporation Surgical handpiece system for depth measurement and related accessories
CN112638310A (zh) * 2018-07-10 2021-04-09 直观外科手术操作公司 用于感测医疗工具的存在的系统
CN116158792B (zh) * 2023-03-02 2023-12-19 露卡(重庆)医疗设备有限公司 一种手柄识别刨削机

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US7887559B2 (en) * 2002-08-08 2011-02-15 Stryker Corporation Surgical cutting accessory with encapsulated RFID chip
GB2462828B (en) * 2008-08-19 2012-12-05 Soutter Medical Ltd De A medical device
CN103830004A (zh) * 2009-02-26 2014-06-04 斯特赖克公司 具有可与多种外科手术工具一起使用的手持件的外科手术工具设备
US8529567B2 (en) * 2010-06-03 2013-09-10 Biomet Microfixation, Llc Surgical device with smart bit recognition collet assembly to set a desired application mode
CA3067299A1 (en) 2011-09-02 2013-03-07 Stryker Corporation Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing
US10105148B2 (en) * 2013-05-31 2018-10-23 Incipio Devices Sa Acetabular reamer assembly

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WO2018140646A1 (en) 2018-08-02
US11207079B2 (en) 2021-12-28
US20220104833A1 (en) 2022-04-07
US20190343596A1 (en) 2019-11-14
US10575860B2 (en) 2020-03-03
EP3573546A1 (de) 2019-12-04
US20190343597A1 (en) 2019-11-14

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